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This commit is contained in:
BobSong
2026-01-01 22:00:33 +08:00
parent 040a222bd6
commit 9ceffccd39
1800 changed files with 103929 additions and 139495 deletions
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430
Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
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@@ -4,8 +4,6 @@ using Unity.Collections;
using Unity.Jobs;
using Unity.Mathematics;
using Unity.Burst;
using System.Threading;
using Unity.Collections.LowLevel.Unsafe;
namespace Obi
{
@@ -20,32 +18,24 @@ namespace Obi
public int entity;
}
public int referenceCount { get; private set; } = 0;
public int colliderCount { get; private set; } = 0;
private int refCount = 0;
private int colliderCount = 0;
private NativeMultilevelGrid<int> grid;
private NativeQueue<MovingCollider> movingColliders;
private NativeArray<int> colliderTypeCounts;
private NativeQueue<Oni.ContactPair> contactPairQueue;
public NativeList<Oni.ContactPair> contactPairs;
public NativeArray<int> contactOffsetsPerType;
public NativeQueue<BurstContact> colliderContactQueue;
public ObiNativeCellSpanList cellSpans;
public int referenceCount { get { return refCount; } }
public void Awake()
{
this.grid = new NativeMultilevelGrid<int>(1000, Allocator.Persistent);
this.movingColliders = new NativeQueue<MovingCollider>(Allocator.Persistent);
this.colliderContactQueue = new NativeQueue<BurstContact>(Allocator.Persistent);
this.contactPairQueue = new NativeQueue<Oni.ContactPair>(Allocator.Persistent);
this.colliderTypeCounts = new NativeArray<int>(Oni.ColliderShapeTypeCount, Allocator.Persistent);
this.contactOffsetsPerType = new NativeArray<int>(Oni.ColliderShapeTypeCount + 1, Allocator.Persistent);
this.contactPairs = new NativeList<Oni.ContactPair>(Allocator.Persistent);
this.cellSpans = new ObiNativeCellSpanList();
ObiColliderWorld.GetInstance().RegisterImplementation(this);
@@ -57,30 +47,23 @@ namespace Obi
grid.Dispose();
movingColliders.Dispose();
colliderTypeCounts.Dispose();
contactPairQueue.Dispose();
contactPairs.Dispose();
contactOffsetsPerType.Dispose();
colliderContactQueue.Dispose();
cellSpans.Dispose();
}
public void IncreaseReferenceCount()
{
referenceCount++;
refCount++;
}
public void DecreaseReferenceCount()
{
if (--referenceCount <= 0 && gameObject != null)
if (--refCount <= 0 && gameObject != null)
DestroyImmediate(gameObject);
}
public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms)
public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count)
{
colliderCount = shapes.count;
colliderCount = count;
// insert new empty cellspans at the end if needed:
while (colliderCount > cellSpans.count)
@@ -91,10 +74,6 @@ namespace Obi
{
}
public void SetForceZones(ObiNativeForceZoneList rigidbody)
{
}
public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
{
@@ -183,7 +162,7 @@ namespace Obi
new int4(GridHash.Quantize(velocityBounds.max.xyz, cellSize), level));
// if the collider is 2D, project it to the z = 0 cells.
if (shapes[i].is2D)
if (shapes[i].is2D != 0)
{
newSpan.min[2] = 0;
newSpan.max[2] = 0;
@@ -194,7 +173,7 @@ namespace Obi
if (i >= colliderCount || cellIndices[i] != newSpan)
{
// Add the collider to the list of moving colliders:
movingColliders.Enqueue(new MovingCollider
movingColliders.Enqueue(new MovingCollider()
{
oldSpan = cellIndices[i],
newSpan = newSpan,
@@ -251,7 +230,6 @@ namespace Obi
[ReadOnly] public NativeArray<float> invMasses;
[ReadOnly] public NativeArray<float4> radii;
[ReadOnly] public NativeArray<int> filters;
[ReadOnly] public NativeArray<int> particleMaterialIndices;
// simplex arrays:
[ReadOnly] public NativeArray<int> simplices;
@@ -265,27 +243,47 @@ namespace Obi
[ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
[ReadOnly] public NativeArray<BurstAabb> bounds;
// distance field data:
[ReadOnly] public NativeArray<DistanceFieldHeader> distanceFieldHeaders;
[ReadOnly] public NativeArray<BurstDFNode> distanceFieldNodes;
// triangle mesh data:
[ReadOnly] public NativeArray<TriangleMeshHeader> triangleMeshHeaders;
[ReadOnly] public NativeArray<BIHNode> bihNodes;
[ReadOnly] public NativeArray<Triangle> triangles;
[ReadOnly] public NativeArray<float3> vertices;
// edge mesh data:
[ReadOnly] public NativeArray<EdgeMeshHeader> edgeMeshHeaders;
[ReadOnly] public NativeArray<BIHNode> edgeBihNodes;
[ReadOnly] public NativeArray<Edge> edges;
[ReadOnly] public NativeArray<float2> edgeVertices;
// height field data:
[ReadOnly] public NativeArray<HeightFieldHeader> heightFieldHeaders;
[ReadOnly] public NativeArray<float> heightFieldSamples;
// output contacts queue:
[WriteOnly]
[NativeDisableParallelForRestriction]
public NativeQueue<Oni.ContactPair>.ParallelWriter contactPairQueue;
[NativeDisableParallelForRestriction]
public NativeArray<int> colliderTypeCounts;
public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
// auxiliar data:
[ReadOnly] public BurstAffineTransform solverToWorld;
[ReadOnly] public BurstAffineTransform worldToSolver;
[ReadOnly] public float deltaTime;
[ReadOnly] public Oni.SolverParameters parameters;
public void Execute(int i)
{
int simplexStart = simplexCounts.GetSimplexStartAndSize(i, out int simplexSize);
BurstAabb simplexBoundsSS = simplexBounds[i];
// get all colliders overlapped by the cell bounds, in all grid levels:
BurstAabb simplexBoundsWS = simplexBounds[i].Transformed(solverToWorld);
BurstAabb simplexBoundsWS = simplexBoundsSS.Transformed(solverToWorld);
NativeList<int> candidates = new NativeList<int>(16,Allocator.Temp);
// max size of the simplex bounds in cells:
// max size of the particle bounds in cells:
int3 maxSize = new int3(10);
bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
@@ -362,203 +360,139 @@ namespace Obi
if (shouldCollide && simplexBoundsWS.IntersectsAabb(in colliderBoundsWS, is2D))
{
// increment the amount of contacts for this shape type:
Interlocked.Increment(ref ((int*)colliderTypeCounts.GetUnsafePtr())[(int)shape.type]);
// enqueue a new contact pair:
contactPairQueue.Enqueue(new Oni.ContactPair{
bodyA = i,
bodyB = c
});
// generate contacts for the collider:
BurstAffineTransform colliderToSolver = worldToSolver * transforms[c];
GenerateContacts(in shape, in colliderToSolver, c, rb, i, simplexStart, simplexSize, simplexBoundsSS);
}
}
}
}
}
}
[BurstCompile]
struct PrefixSumJob : IJob
{
[ReadOnly] public NativeArray<int> array;
public NativeArray<int> sum;
public void Execute()
private void GenerateContacts(in BurstColliderShape shape,
in BurstAffineTransform colliderToSolver,
int colliderIndex,
int rigidbodyIndex,
int simplexIndex,
int simplexStart,
int simplexSize,
in BurstAabb simplexBoundsSS)
{
sum[0] = 0;
for (int i = 1; i < sum.Length; ++i)
sum[i] = sum[i - 1] + array[i-1];
}
}
float4x4 solverToCollider;
BurstAabb simplexBoundsCS;
[BurstCompile]
struct SortContactPairsByShape : IJob
{
public NativeQueue<Oni.ContactPair> contactPairQueue;
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
[ReadOnly] public NativeArray<int> start; // prefix sum
public NativeArray<int> count;
public NativeList<Oni.ContactPair> contactPairs;
public void Execute()
{
contactPairs.ResizeUninitialized(contactPairQueue.Count);
while (!contactPairQueue.IsEmpty())
switch (shape.type)
{
var pair = contactPairQueue.Dequeue();
int shapeType = (int)shapes[pair.bodyB].type;
case ColliderShape.ShapeType.Sphere:
BurstSphere sphereShape = new BurstSphere() { colliderToSolver = colliderToSolver, shape = shape, dt = deltaTime };
sphereShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case ColliderShape.ShapeType.Box:
BurstBox boxShape = new BurstBox() { colliderToSolver = colliderToSolver, shape = shape, dt = deltaTime };
boxShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case ColliderShape.ShapeType.Capsule:
BurstCapsule capsuleShape = new BurstCapsule(){colliderToSolver = colliderToSolver,shape = shape, dt = deltaTime };
capsuleShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case ColliderShape.ShapeType.SignedDistanceField:
// write the pair directly at its position in the sorted array:
contactPairs[start[shapeType] + (--count[shapeType])] = pair;
if (shape.dataIndex < 0) return;
BurstDistanceField distanceFieldShape = new BurstDistanceField()
{
colliderToSolver = colliderToSolver,
solverToWorld = solverToWorld,
shape = shape,
distanceFieldHeaders = distanceFieldHeaders,
dfNodes = distanceFieldNodes,
dt = deltaTime,
collisionMargin = parameters.collisionMargin
};
distanceFieldShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsSS,
simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case ColliderShape.ShapeType.Heightmap:
if (shape.dataIndex < 0) return;
// invert a full matrix here to accurately represent collider bounds scale.
solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
simplexBoundsCS = simplexBoundsSS.Transformed(solverToCollider);
BurstHeightField heightmapShape = new BurstHeightField()
{
colliderToSolver = colliderToSolver,
solverToWorld = solverToWorld,
shape = shape,
header = heightFieldHeaders[shape.dataIndex],
heightFieldSamples = heightFieldSamples,
collisionMargin = parameters.collisionMargin,
dt = deltaTime
};
heightmapShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsCS,
simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case ColliderShape.ShapeType.TriangleMesh:
if (shape.dataIndex < 0) return;
// invert a full matrix here to accurately represent collider bounds scale.
solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
simplexBoundsCS = simplexBoundsSS.Transformed(solverToCollider);
BurstTriangleMesh triangleMeshShape = new BurstTriangleMesh()
{
colliderToSolver = colliderToSolver,
solverToWorld = solverToWorld,
shape = shape,
header = triangleMeshHeaders[shape.dataIndex],
bihNodes = bihNodes,
triangles = triangles,
vertices = vertices,
collisionMargin = parameters.collisionMargin,
dt = deltaTime
};
triangleMeshShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsCS,
simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case ColliderShape.ShapeType.EdgeMesh:
if (shape.dataIndex < 0) return;
// invert a full matrix here to accurately represent collider bounds scale.
solverToCollider = math.inverse(float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
simplexBoundsCS = simplexBoundsSS.Transformed(solverToCollider);
BurstEdgeMesh edgeMeshShape = new BurstEdgeMesh()
{
colliderToSolver = colliderToSolver,
shape = shape,
header = edgeMeshHeaders[shape.dataIndex],
edgeBihNodes = edgeBihNodes,
edges = edges,
vertices = edgeVertices,
dt = deltaTime
};
edgeMeshShape.Contacts(colliderIndex, rigidbodyIndex, rigidbodies, positions, orientations, velocities, radii, simplices, in simplexBoundsCS,
simplexIndex, simplexStart, simplexSize, contactsQueue, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
}
}
}
[BurstCompile]
unsafe struct ApplyForceZonesJob : IJobParallelFor
{
// particle arrays:
[NativeDisableParallelForRestriction] public NativeArray<float4> externalForces;
[NativeDisableParallelForRestriction] public NativeArray<float4> wind;
[NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
[NativeDisableParallelForRestriction] public NativeArray<float4> colors;
[NativeDisableParallelForRestriction] public NativeArray<float> life;
[ReadOnly] public NativeArray<float4> positions;
[ReadOnly] public NativeArray<float> invMasses;
// simplex arrays:
[ReadOnly] public NativeArray<int> simplices;
[ReadOnly] public SimplexCounts simplexCounts;
// collider arrays:
[ReadOnly] public NativeArray<BurstAffineTransform> transforms;
[ReadOnly] public NativeArray<BurstColliderShape> shapes;
[ReadOnly] public NativeArray<ForceZone> forceZones;
// contacts
[ReadOnly] public NativeArray<BurstContact> contacts;
// auxiliar data:
[ReadOnly] public BurstAffineTransform worldToSolver;
[ReadOnly] public float deltaTime;
public void Execute(int i)
{
var contact = contacts[i];
int forceZoneIndex = shapes[contact.bodyB].forceZoneIndex;
if (forceZoneIndex >= 0)
{
int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
float distance = -math.dot(positions[particleIndex] - contact.pointB, contact.normal);
if (distance < 0) continue;
float4 axis = (worldToSolver * transforms[contact.bodyB]).TransformDirection(new float4(0, 0, 1, 0));
// calculate falloff region based on min/max distances:
float falloff = 1;
float range = forceZones[forceZoneIndex].maxDistance - forceZones[forceZoneIndex].minDistance;
if (math.abs(range) > BurstMath.epsilon)
falloff = math.pow(math.saturate((distance - forceZones[forceZoneIndex].minDistance) / range), forceZones[forceZoneIndex].falloffPower);
float forceIntensity = forceZones[forceZoneIndex].intensity * falloff;
float dampIntensity = forceZones[forceZoneIndex].damping * falloff;
// tint particles:
float mix = math.pow(1 - math.saturate(forceZones[forceZoneIndex].color.a * falloff), deltaTime);
colors[particleIndex] = math.lerp((Vector4)forceZones[forceZoneIndex].color, colors[particleIndex], mix);
// calculate force direction, depending on the type of the force field:
float4 result = float4.zero;
switch (forceZones[forceZoneIndex].type)
{
case ForceZone.ZoneType.Radial:
result = contact.normal * forceIntensity;
break;
case ForceZone.ZoneType.Vortex:
result = new float4(math.cross(axis.xyz * forceIntensity, contact.normal.xyz).xyz, 0);
break;
case ForceZone.ZoneType.Directional:
result = axis * forceIntensity;
break;
default:
BurstMath.AtomicAdd(life, particleIndex, -forceIntensity * deltaTime);
continue;
}
// apply damping:
switch (forceZones[forceZoneIndex].dampingDir)
{
case ForceZone.DampingDirection.ForceDirection:
{
float4 forceDir = math.normalizesafe(result);
result -= forceDir * math.dot(velocities[particleIndex], forceDir) * dampIntensity;
}
break;
case ForceZone.DampingDirection.SurfaceDirection:
result -= contact.normal * math.dot(velocities[particleIndex], contact.normal) * dampIntensity;
break;
default:
result -= velocities[particleIndex] * dampIntensity;
break;
}
if (invMasses[particleIndex] > 0)
{
switch (forceZones[forceZoneIndex].mode)
{
case ForceZone.ForceMode.Acceleration:
BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize / invMasses[particleIndex]);
break;
case ForceZone.ForceMode.Force:
BurstMath.AtomicAdd(externalForces, particleIndex, result / simplexSize);
break;
case ForceZone.ForceMode.Wind:
BurstMath.AtomicAdd(wind, particleIndex, result / simplexSize);
break;
}
}
}
}
}
}
public JobHandle ApplyForceZones(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
{
var world = ObiColliderWorld.GetInstance();
var applyForceFieldsJob = new ApplyForceZonesJob
{
contacts = solver.abstraction.colliderContacts.AsNativeArray<BurstContact>(),
positions = solver.positions,
velocities = solver.velocities,
externalForces = solver.externalForces,
wind = solver.wind,
invMasses = solver.invMasses,
life = solver.life,
colors = solver.colors,
simplices = solver.simplices,
simplexCounts = solver.simplexCounts,
transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
forceZones = world.forceZones.AsNativeArray<ForceZone>(),
worldToSolver = solver.worldToSolver,
deltaTime = deltaTime,
};
return applyForceFieldsJob.Schedule(solver.abstraction.colliderContacts.count, 64, inputDeps);
}
public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
{
@@ -575,7 +509,6 @@ namespace Obi
invMasses = solver.invMasses,
radii = solver.principalRadii,
filters = solver.filters,
particleMaterialIndices = solver.collisionMaterials,
simplices = solver.simplices,
simplexCounts = solver.simplexCounts,
@@ -587,46 +520,33 @@ namespace Obi
collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(),
contactPairQueue = contactPairQueue.AsParallelWriter(),
colliderTypeCounts = colliderTypeCounts,
distanceFieldHeaders = world.distanceFieldContainer.headers.AsNativeArray<DistanceFieldHeader>(),
distanceFieldNodes = world.distanceFieldContainer.dfNodes.AsNativeArray<BurstDFNode>(),
triangleMeshHeaders = world.triangleMeshContainer.headers.AsNativeArray<TriangleMeshHeader>(),
bihNodes = world.triangleMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
triangles = world.triangleMeshContainer.triangles.AsNativeArray<Triangle>(),
vertices = world.triangleMeshContainer.vertices.AsNativeArray<float3>(),
edgeMeshHeaders = world.edgeMeshContainer.headers.AsNativeArray<EdgeMeshHeader>(),
edgeBihNodes = world.edgeMeshContainer.bihNodes.AsNativeArray<BIHNode>(),
edges = world.edgeMeshContainer.edges.AsNativeArray<Edge>(),
edgeVertices = world.edgeMeshContainer.vertices.AsNativeArray<float2>(),
heightFieldHeaders = world.heightFieldContainer.headers.AsNativeArray<HeightFieldHeader>(),
heightFieldSamples = world.heightFieldContainer.samples.AsNativeArray<float>(),
contactsQueue = colliderContactQueue.AsParallelWriter(),
solverToWorld = solver.solverToWorld,
worldToSolver = solver.worldToSolver,
deltaTime = deltaTime,
parameters = solver.abstraction.parameters
};
inputDeps = generateColliderContactsJob.Schedule(solver.simplexCounts.simplexCount, 16, inputDeps);
return generateColliderContactsJob.Schedule(solver.simplexCounts.simplexCount, 16, inputDeps);
var prefixSumJob = new PrefixSumJob
{
array = colliderTypeCounts,
sum = contactOffsetsPerType
};
inputDeps = prefixSumJob.Schedule(inputDeps);
var sortPairsJob = new SortContactPairsByShape
{
contactPairQueue = contactPairQueue,
shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
start = contactOffsetsPerType,
count = colliderTypeCounts,
contactPairs = contactPairs
};
inputDeps = sortPairsJob.Schedule(inputDeps);
inputDeps.Complete();
inputDeps = BurstSphere.GenerateContacts(world,solver,contactPairs,colliderContactQueue,contactOffsetsPerType,deltaTime,inputDeps);
inputDeps = BurstBox.GenerateContacts(world,solver,contactPairs,colliderContactQueue, contactOffsetsPerType,deltaTime,inputDeps);
inputDeps = BurstCapsule.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstDistanceField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstTriangleMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstHeightField.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
inputDeps = BurstEdgeMesh.GenerateContacts(world, solver, contactPairs, colliderContactQueue, contactOffsetsPerType, deltaTime, inputDeps);
return inputDeps;
}
}
}
#endif
#endif